This question needs to be answered. This behavior is broken in iOS 16.

OpenGL is and has been deprecated on iOS for quite some time, and pretty sure that it's deprecated on macOS as well. You could likely locate the required header files for gl and glu at various websites around the web (the OpenGL ES headers are still available with Xcode 14), but speaking from personal experience, the OpenGL drivers you'd be using on the mac would probably not be stable. They certainly are not stable on iOS. If you want to continue to use the OpenGL API across multiple platforms, at least on the mac you'll need to consider translation layers like ANGLE or MetalANGLE so that your final rendered output is Metal. There are other alternatives but I'd abandon the hope that straight OpenGL is one of them. If your Macbook Air is an older Intel based Mac, I'd seriously consider installing Bootcamp and your favorite version of Windows and do your OpenGL coding there. This is likely not the answer you want to hear. Good luck.

I apologize; I know nothing about ARkit - but a couple of things: you'll need to look at the docs to see exactly what space 'projectPoint' projects world space into to. Is it projecting points to some kind of normalized device coordinates? (NDC's typically have a range of -1 to 1) Or is it projecting points to some kind of device coordinates (to which it would need to know the device parameters - size and shape). Or, is it projecting points to some kind of eye coordinate system? You'll need to look at the docs to know what the heck are you doing with setting up each feature points? You're using the x and y coordinates of the projected point, but the z coordinate is a world space distance - presumably the distance from the camera to each UNprojected point. From strictly a 'visualization' point of view, that doesn't make a whole lot of sense. Are you using the z coordinate when trying to plot the feature points? Plot them in Python 'on top of the frame'? That doesn't say a lot. When you plot something, you tell the tool 'how to plot' - i.e., where the origin is, the scale of the axis, etc, etc.

This is just a good ol' bug. Didn't exist in previous versions of Xcode - and the suggestion to reset all of my preferences is silly - the equivalent of deleting all browser cookies - when the issue is just a good ol' bug. Fix the bug Apple.